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<title>MRSL JPS3D Library: JPSPlanner&lt; Dim &gt; Class Template Reference</title>
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   <div id="projectname">MRSL JPS3D Library
   &#160;<span id="projectnumber">1.1</span>
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   <div id="projectbrief">An implementaion of Jump Point Search on 3D voxel map</div>
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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
<a href="classJPSPlanner-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">JPSPlanner&lt; Dim &gt; Class Template Reference</div>  </div>
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<p>Abstract base for planning.  
 <a href="classJPSPlanner.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="jps__planner_8h_source.html">jps_planner.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a40f90dbc893afe917e21cf8e452b9bf6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#a40f90dbc893afe917e21cf8e452b9bf6">JPSPlanner</a> (bool verbose=false)</td></tr>
<tr class="memdesc:a40f90dbc893afe917e21cf8e452b9bf6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simple constructor.  <a href="#a40f90dbc893afe917e21cf8e452b9bf6">More...</a><br /></td></tr>
<tr class="separator:a40f90dbc893afe917e21cf8e452b9bf6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6010d38eee1042eaaa60227ee562f099"><td class="memItemLeft" align="right" valign="top"><a id="a6010d38eee1042eaaa60227ee562f099"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#a6010d38eee1042eaaa60227ee562f099">setMapUtil</a> (const std::shared_ptr&lt; <a class="el" href="classJPS_1_1MapUtil.html">JPS::MapUtil</a>&lt; Dim &gt;&gt; &amp;map_util)</td></tr>
<tr class="memdesc:a6010d38eee1042eaaa60227ee562f099"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set map util for collistion checking. <br /></td></tr>
<tr class="separator:a6010d38eee1042eaaa60227ee562f099"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93ab066509dd8984b4ca50cb88eee5f1"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#a93ab066509dd8984b4ca50cb88eee5f1">status</a> ()</td></tr>
<tr class="memdesc:a93ab066509dd8984b4ca50cb88eee5f1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Status of the planner.  <a href="#a93ab066509dd8984b4ca50cb88eee5f1">More...</a><br /></td></tr>
<tr class="separator:a93ab066509dd8984b4ca50cb88eee5f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa6acf7cf663fcc260bc67c4d523f6d43"><td class="memItemLeft" align="right" valign="top"><a id="aa6acf7cf663fcc260bc67c4d523f6d43"></a>
<a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#aa6acf7cf663fcc260bc67c4d523f6d43">getPath</a> ()</td></tr>
<tr class="memdesc:aa6acf7cf663fcc260bc67c4d523f6d43"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the modified path. <br /></td></tr>
<tr class="separator:aa6acf7cf663fcc260bc67c4d523f6d43"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aebbd65beff7d397eed191a35078f61ef"><td class="memItemLeft" align="right" valign="top"><a id="aebbd65beff7d397eed191a35078f61ef"></a>
<a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#aebbd65beff7d397eed191a35078f61ef">getRawPath</a> ()</td></tr>
<tr class="memdesc:aebbd65beff7d397eed191a35078f61ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the raw path. <br /></td></tr>
<tr class="separator:aebbd65beff7d397eed191a35078f61ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7d0cfae7a132861188e362de04bf23d9"><td class="memItemLeft" align="right" valign="top"><a id="a7d0cfae7a132861188e362de04bf23d9"></a>
<a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#a7d0cfae7a132861188e362de04bf23d9">removeLinePts</a> (const <a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt; &amp;path)</td></tr>
<tr class="memdesc:a7d0cfae7a132861188e362de04bf23d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">remove redundant points on the same line <br /></td></tr>
<tr class="separator:a7d0cfae7a132861188e362de04bf23d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeadb00efb90d9ce1ce5508c6233d3620"><td class="memItemLeft" align="right" valign="top"><a id="aeadb00efb90d9ce1ce5508c6233d3620"></a>
<a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#aeadb00efb90d9ce1ce5508c6233d3620">removeCornerPts</a> (const <a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt; &amp;path)</td></tr>
<tr class="memdesc:aeadb00efb90d9ce1ce5508c6233d3620"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove some corner waypoints. <br /></td></tr>
<tr class="separator:aeadb00efb90d9ce1ce5508c6233d3620"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab3cc838e3b6817c159f4d29037a7095a"><td class="memItemLeft" align="right" valign="top"><a id="ab3cc838e3b6817c159f4d29037a7095a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#ab3cc838e3b6817c159f4d29037a7095a">updateMap</a> ()</td></tr>
<tr class="memdesc:ab3cc838e3b6817c159f4d29037a7095a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Must be called before run the planning thread. <br /></td></tr>
<tr class="separator:ab3cc838e3b6817c159f4d29037a7095a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f6ae73c17f412a893a542efaa6e625f"><td class="memItemLeft" align="right" valign="top"><a id="a8f6ae73c17f412a893a542efaa6e625f"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#a8f6ae73c17f412a893a542efaa6e625f">plan</a> (const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;start, const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;goal, <a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> eps=1, bool use_jps=true)</td></tr>
<tr class="memdesc:a8f6ae73c17f412a893a542efaa6e625f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Planning function. <br /></td></tr>
<tr class="separator:a8f6ae73c17f412a893a542efaa6e625f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0a26e20af3012aa41ed9a52c254fb32b"><td class="memItemLeft" align="right" valign="top"><a id="a0a26e20af3012aa41ed9a52c254fb32b"></a>
<a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#a0a26e20af3012aa41ed9a52c254fb32b">getOpenSet</a> () const</td></tr>
<tr class="memdesc:a0a26e20af3012aa41ed9a52c254fb32b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the nodes in open set. <br /></td></tr>
<tr class="separator:a0a26e20af3012aa41ed9a52c254fb32b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab481ff2ad9145367506010ea8915032a"><td class="memItemLeft" align="right" valign="top"><a id="ab481ff2ad9145367506010ea8915032a"></a>
<a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#ab481ff2ad9145367506010ea8915032a">getCloseSet</a> () const</td></tr>
<tr class="memdesc:ab481ff2ad9145367506010ea8915032a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the nodes in close set. <br /></td></tr>
<tr class="separator:ab481ff2ad9145367506010ea8915032a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acdcdd7e7400d7f9e210d435f24a1e11f"><td class="memItemLeft" align="right" valign="top"><a id="acdcdd7e7400d7f9e210d435f24a1e11f"></a>
<a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#acdcdd7e7400d7f9e210d435f24a1e11f">getAllSet</a> () const</td></tr>
<tr class="memdesc:acdcdd7e7400d7f9e210d435f24a1e11f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get all the nodes. <br /></td></tr>
<tr class="separator:acdcdd7e7400d7f9e210d435f24a1e11f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:ab4955b4445f34b833060f3924c994c4f"><td class="memItemLeft" align="right" valign="top"><a id="ab4955b4445f34b833060f3924c994c4f"></a>
std::shared_ptr&lt; <a class="el" href="classJPS_1_1MapUtil.html">JPS::MapUtil</a>&lt; Dim &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#ab4955b4445f34b833060f3924c994c4f">map_util_</a></td></tr>
<tr class="memdesc:ab4955b4445f34b833060f3924c994c4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assume using 3D voxel map for all 2d and 3d planning. <br /></td></tr>
<tr class="separator:ab4955b4445f34b833060f3924c994c4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4cd510f4058572a84bf96450a7add32b"><td class="memItemLeft" align="right" valign="top"><a id="a4cd510f4058572a84bf96450a7add32b"></a>
std::shared_ptr&lt; <a class="el" href="classJPS_1_1GraphSearch.html">JPS::GraphSearch</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#a4cd510f4058572a84bf96450a7add32b">graph_search_</a></td></tr>
<tr class="memdesc:a4cd510f4058572a84bf96450a7add32b"><td class="mdescLeft">&#160;</td><td class="mdescRight">The planner. <br /></td></tr>
<tr class="separator:a4cd510f4058572a84bf96450a7add32b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5c53347ae8c5c8d51dfb474ede9f4b34"><td class="memItemLeft" align="right" valign="top"><a id="a5c53347ae8c5c8d51dfb474ede9f4b34"></a>
<a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#a5c53347ae8c5c8d51dfb474ede9f4b34">raw_path_</a></td></tr>
<tr class="memdesc:a5c53347ae8c5c8d51dfb474ede9f4b34"><td class="mdescLeft">&#160;</td><td class="mdescRight">Raw path from planner. <br /></td></tr>
<tr class="separator:a5c53347ae8c5c8d51dfb474ede9f4b34"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8feba0adc780669b8e2cb9f34d943e65"><td class="memItemLeft" align="right" valign="top"><a id="a8feba0adc780669b8e2cb9f34d943e65"></a>
<a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#a8feba0adc780669b8e2cb9f34d943e65">path_</a></td></tr>
<tr class="memdesc:a8feba0adc780669b8e2cb9f34d943e65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Modified path for future usage. <br /></td></tr>
<tr class="separator:a8feba0adc780669b8e2cb9f34d943e65"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab410c44958c4836634833122bf28aa0f"><td class="memItemLeft" align="right" valign="top"><a id="ab410c44958c4836634833122bf28aa0f"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#ab410c44958c4836634833122bf28aa0f">status_</a> = 0</td></tr>
<tr class="memdesc:ab410c44958c4836634833122bf28aa0f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flag indicating the success of planning. <br /></td></tr>
<tr class="separator:ab410c44958c4836634833122bf28aa0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e76b13f0da618aac2b0d0cb5ef97c30"><td class="memItemLeft" align="right" valign="top"><a id="a2e76b13f0da618aac2b0d0cb5ef97c30"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#a2e76b13f0da618aac2b0d0cb5ef97c30">planner_verbose_</a></td></tr>
<tr class="memdesc:a2e76b13f0da618aac2b0d0cb5ef97c30"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enabled for printing info. <br /></td></tr>
<tr class="separator:a2e76b13f0da618aac2b0d0cb5ef97c30"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c9067d5114ac6d3e50c2f0d073b49f9"><td class="memItemLeft" align="right" valign="top"><a id="a1c9067d5114ac6d3e50c2f0d073b49f9"></a>
std::vector&lt; char &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPSPlanner.html#a1c9067d5114ac6d3e50c2f0d073b49f9">cmap_</a></td></tr>
<tr class="memdesc:a1c9067d5114ac6d3e50c2f0d073b49f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">1-D map array <br /></td></tr>
<tr class="separator:a1c9067d5114ac6d3e50c2f0d073b49f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;int Dim&gt;<br />
class JPSPlanner&lt; Dim &gt;</h3>

<p>Abstract base for planning. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a40f90dbc893afe917e21cf8e452b9bf6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a40f90dbc893afe917e21cf8e452b9bf6">&#9670;&nbsp;</a></span>JPSPlanner()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int Dim&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classJPSPlanner.html">JPSPlanner</a>&lt; Dim &gt;::<a class="el" href="classJPSPlanner.html">JPSPlanner</a> </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>verbose</em> = <code>false</code></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Simple constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">verbose</td><td>enable debug mode </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a93ab066509dd8984b4ca50cb88eee5f1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a93ab066509dd8984b4ca50cb88eee5f1">&#9670;&nbsp;</a></span>status()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int Dim&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classJPSPlanner.html">JPSPlanner</a>&lt; Dim &gt;::status </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Status of the planner. </p>
<p>0 &mdash; exit normally; -1 &mdash; no path found; 1, 2 &mdash; start or goal is not free. </p>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/jps_planner/jps_planner/<a class="el" href="jps__planner_8h_source.html">jps_planner.h</a></li>
<li>src/jps_planner/jps_planner.cpp</li>
</ul>
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